Dynamic Path Planning for a 7-DOF Robot Arm

Abstract

Abstract-We present an on-line, robust, and efficient path planner for the redundant Mitsubishi PA-10 arm with 7 degrees of freedom (DOF) in non-stationary environments. Because of the specific kinematic model of the arm, path planning can be first reduced to a redundant 6-DOF problem in a 5D configuration space, which can be further decomposed into two problems: (i) 3D position planning in Cartesian space and (ii) planning in a 3D space composed of two orientation angles and an explicit parameterization of the arms redundancy. Position and orientation planning are interweaving and performed "on-thefly" without explicit global knowledge of the environment using two instances of the dynamic wave expansion neural network (DWENN), an effective method for path generation in arbitrarily changing environments. The dynamic and explorative nature of the DWENN algorithm allows to treat stationary and dynamic obstacles in a unified manner. Through a number of simulative tests, we show that the planner is capable of reaching both a satisfactory robustness level and real-time performance, as required by many practical applications.

Colored object detection using 5 dof robot arm based adaptive neuro-fuzzy method

“…Experimental results show that the robot arm is capable of performing its tasks to detect colored objects, retrieve and move objects by control system using ANFIS. When compared with some literature [18][19][20][21][22][23], the results of this study indicate a better level of accuracy.…”

“…The robot manipulator control presents a major concern in robotics research at present. In the literature, Mehmet constructed a control of 2-DOF direct-drive robot arm based fractional fuzzy adaptive sliding-mode method [18], Amer et al created 3 DOF planar robot manipulators based adaptive fuzzy sliding mode control [19], Pierrot et al investigated a new design of a 4-DOF parallel manipulator for high-speed and high-acceleration pick and place operations [20], Lotfazar et al explained a dynamic equations of motion of a 5 DoF robot manipulator based integrator backstepping method [21], Alavandar and Nigam described control of 6-DOF robot manipulator using Adaptive Neuro-Fuzzy Inference System [22] and Klanke et al constructed a dynamic path planning for a 7-DOF robot Arm [23]. In the last few years, several new design of robotic manipulator has been proposed [24][25][26].…”

Reservoir Computing with Output Feedback

“…I define a desired end effector trajectory and solve the inverse kinematics analytically according to [142,143] in order to generate training data. The end effector trajectories are defined by…”

Path Planning and Co-Simulation Control of 8 DOF Anthropomorphic Robotic Arm

“…Anthropomorphic arm developed so far has 6 degrees of freedom [5][6][7][8][9] and 7 degrees of freedom [9][10][11][12]. Even though the work envelopes of those arms are similar to human work envelope, some of the human movements cannot be replicated by these arms [13].…”